Method, system and related device of implementing vehicle automatically weighing

ABSTRACT

The application discloses a method, system and related device of implementing vehicle automatically weighing, so as to achieve the automatically weighing of the unmanned vehicle. The method includes: controlling, by a vehicle controller, a vehicle to drive automatically and stop at a weighing position; weighing, by a weighbridge sensor, the vehicle when sensing the vehicle stopping at the weighing position, and sending weighing end information to the vehicle controller; and controlling, by the vehicle controller, the vehicle to start and leave the weighing position when receiving the weighing end information.

CROSS-REFERENCES TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.17/340,743, filed on Jun. 7, 2021, which is divisional of U.S. patentapplication Ser. No. 16/035,663, filed on Jul. 15, 2018, which in turnclaims the priority from Chinese Patent Application No. 201710600461.6,filed on Jul. 21, 2017. The aforementioned disclosures are herebyincorporated by reference in their entireties.

BACKGROUND

The application relates to the autonomous driving field, andparticularly to a method of implementing vehicle automatically weighing,a system of implementing vehicle automatically weighing, a vehiclecontroller, a weighbridge sensor and a payment terminal.

With the development of the autonomous driving technology, theautonomous vehicles will be more and more popular. Thus, for theautonomous vehicles, how to implement the automatically weighing at theweighing position becomes an urgent problem to be solved by thoseskilled in the art. At present, there is no related disclosed technologyof implementing the automatically weighing of autonomous vehicles.

SUMMARY

The application provides a method of implementing vehicle automaticallyweighing, a vehicle controller, a weighbridge sensor and a paymentterminal.

An embodiment of the application provides a method of implementingvehicle automatically weighing, which includes:

-   -   controlling, by a vehicle controller, a vehicle to drive        automatically and stop at a weighing position;    -   weighing, by a weighbridge sensor, the vehicle when sensing the        vehicle stopping at the weighing position, and sending weighing        end information to the vehicle controller; and    -   controlling, by the vehicle controller, the vehicle to start and        leave the weighing position when receiving the weighing end        information.

An embodiment of the application further provides a vehicle controller,which includes:

-   -   a communication unit configured to receive and send information;        and    -   a control unit configured to control a vehicle to drive        automatically and stop at a weighing position; and control the        vehicle to start and leave the weighing position when receiving        weighing end information.

An embodiment of the application provides a weighbridge sensor, whichincludes:

-   -   a communication unit configured to receive and send information;        and    -   a weighing control unit comprising a processor and at least one        memory, wherein the at least one memory stores at least one        machine executable instruction, and the processor executes the        at least one machine executable instruction to weigh a vehicle        when sensing the vehicle stopping at a weighing position, and        send, through the communication unit, weighing end information        to a vehicle controller of the vehicle.

An embodiment of the application provides a payment terminal, whichincludes:

-   -   a communication unit configured to receive and send information;    -   a storage unit configured to store a weighing result and driving        mileage corresponding to vehicle identification information; and    -   a payment control unit comprising a processor and at least one        memory, wherein the at least one memory stores at least one        machine executable instruction, and the processor executes the        at least one machine executable instruction to obtain the        vehicle identification information of a vehicle stopping at a        weighing position and obtain the weighing result and the driving        mileage corresponding to the vehicle identification information        from the storage unit; calculate payment amount according to the        obtained weighing result and driving mileage; and send, through        the communication unit, leaving indication information to a        vehicle controller after determining that the vehicle controller        pays the payment amount.

An embodiment of the application further provides a system ofimplementing vehicle automatically weighing, which includes a vehiclecontroller and a weighbridge sensor, wherein:

-   -   the vehicle controller is configured to control a vehicle to        drive automatically and stop at a weighing position, and control        the vehicle to start and leave the weighing position when        receiving weighing end information sent by the weighbridge        sensor; and    -   the weighbridge sensor is configured to weigh the vehicle when        sensing the vehicle stopping at the weighing position, and send        the weighing end information to the vehicle controller.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are used to provide the further understandingof the application and constitute a part of the specification, and serveto explain the application together with the embodiments of theapplication but not limit the application.

FIG. 1 is the first one of flow charts of a method of implementingvehicle automatically weighing in an embodiment of the application;

FIG. 2 is the second one of flow charts of a method of implementingvehicle automatically weighing in an embodiment of the application;

FIG. 3 is the third one of flow charts of a method of implementingvehicle automatically weighing in an embodiment of the application;

FIG. 4 is the first one of flow charts of the vehicle controllerinteracting with the payment terminal to accomplish the automaticpayment in an embodiment of the application;

FIG. 5 is the second one of flow charts of the vehicle controllerinteracting with the payment terminal to accomplish the automaticpayment in an embodiment of the application;

FIG. 6 is the third one of flow charts of the vehicle controllerinteracting with the payment terminal to accomplish the automaticpayment in an embodiment of the application;

FIG. 7 is the first one of structural schematic diagrams of a system ofimplementing vehicle automatically weighing in an embodiment of theapplication;

FIG. 8 is the second one of structural schematic diagrams of a system ofimplementing vehicle automatically weighing in an embodiment of theapplication;

FIG. 9 is a structural schematic diagram of a vehicle controller in anembodiment of the application;

FIG. 10 is a structural schematic diagram of a weighbridge sensor in anembodiment of the application;

FIG. 11 is a structural schematic diagram of a payment terminal in anembodiment of the application.

DETAILED DESCRIPTION

In order to make those skilled in the art better understand thetechnical solution in the application, the technical solution in theembodiments of the application will be described clearly and completelybelow in combination with the accompanying drawings in the embodimentsof the application. Obviously the described embodiments are just a partof the embodiments of the application but not all the embodiments. Basedupon the embodiments of the application, all of other embodimentsobtained by those ordinary skilled in the art without creative workshould pertain to the protection scope of the application.

In the method and system of implementing the vehicle automaticallyweighing provided by the embodiments of the application, a weighbridgesensor is set at each weighing position, and the vehicle controllercontrols the vehicle to drive automatically and stop at the weighingposition, and then interacts with the weighbridge sensor at the weighingposition to accomplish the automatically weighing without manualintervention, thereby implementing the function of the automaticallyweighing of the autonomous vehicle.

In an embodiment of the application, the vehicle controller of thevehicle can be a DSP (Digital Signal Processor), FPGA(Field-Programmable Gate Array) controller, industrial computer, tripcomputer, ECU (Electronic Control Unit), or VCU (Vehicle Control Unit)or the like, which is not limited strictly by the present application.

First Embodiment

Referring to FIG. 1 which is a flow chart of a method of implementingvehicle automatically weighing in an embodiment of the application, themethod includes:

Step 101: controlling, by a vehicle controller, a vehicle to driveautomatically and stop at a weighing position.

Step 102: weighing, by a weighbridge sensor, the vehicle when sensingthe vehicle stopping at the weighing position, and sending weighing endinformation to the vehicle controller.

Step 103: controlling, by the vehicle controller, the vehicle to startand leave the weighing position when receiving the weighing endinformation.

Preferably, in some application scenarioes such as expressways,warehouses, highway ports, sea-front ports or the like, the fee paid bythe vehicle is related to the load of the vehicle, and a paymentposition may often be set around the weighing position. Thus based onthese application scenarioes, the above-mentioned method flow of theapplication as shown in FIG. 1 can further includes the following steps104 and 105, wherein the steps 104 and 105 can be set after the step102, or can be set after the step 103, which is not limited strictly bythe present application. As shown in FIG. 2 , after the step 103 asshown in FIG. 1 , the method further includes steps 104 to 105, wherein:

Step 104: obtaining, by the weighbridge sensor, vehicle identificationinformation of the vehicle.

Step 105: sending, by the weighbridge sensor, the weighing result andthe vehicle identification information associatively to a paymentterminal.

Preferably, in an embodiment of the application, the step 104 can beimplemented specifically by but not limited to any of the followingmodes (modes A1 to A2):

Mode A1: the weighbridge sensor identifies the vehicle identificationinformation of the vehicle.

Mode A2: the weighbridge sensor receives the vehicle identificationinformation from the vehicle controller. That is, in the mode A2, whencontrolling the vehicle to stop at the weighing position, the vehiclecontroller sends actively the vehicle identification information to theweighbridge sensor corresponding to the weighing position.

The vehicle controller can communicate with the weighbridge sensor via abase station, bluetooth, WIFI or the like, which is not limited strictlyby the present application.

The mode A1 can be implemented by but not limited to the following modeA11 or A12:

Mode A11: the weighbridge sensor controls a sensor to take an image ofthe vehicle, and performs image identification processing on the imageto obtain the vehicle identification information of the vehicle.

The sensor can be a video camera which can be mounted nearly to theweighing position with the lens faces directly to the weighing position,e.g., mounted on a fixture near the weighing position. The angle of thelens of the video camera can be adjusted automatically.

According to the image posted back from the camera, the weighbridgesensor can perform the image processing on this image. When the vehicleidentification information is identified from the image, the vehicleidentification information is to be verified; when the vehicleidentification information is not identified from the image, theshooting angle of the camera is adjusted automatically, and the aboveactions are repeated until the vehicle identification information isidentified.

The weighbridge sensor identifies the vehicle identification informationfrom the image, which can be achieved by the following way: theweighbridge sensor extracts features from the image, compares theextracted features with the features corresponding to the preset vehicleidentification information, and determines the vehicle identificationinformation according to the features compared successfully. In anembodiment of the application, the above vehicle identificationinformation is the information associated only with the vehicle, forexample, can be the license plate number. When the vehicleidentification information is the license plate number, the featurescorresponding to the vehicle identification information include size,shape (rectangular frame), color (blue or black), text features (lengthof the text string in the rectangular frame) and the like.

Mode A12: the weighbridge sensor controls the sensor to scan atwo-dimensional code or bar code on the vehicle, to obtain the vehicleidentification information of the vehicle.

In an embodiment of the application, the two-dimensional code or barcode containing the vehicle identification information can be pasted orprinted in advance on a particular position of the vehicle, such as thefront windshield, the left side panel of the vehicle or the vehicleundercarriage.

The weighbridge sensor adjusts the shooting angle of the camera untilthe two-dimensional code or bar code is scanned successfully.

Preferably, the method flow as shown in FIG. 2 can further includes step106, as shown in FIG. 3 :

Step 106: controlling, by the vehicle controller, the vehicle to drivefrom the weighing position to the payment position, and interacting withthe payment terminal corresponding to the payment position to accomplishan automatic payment.

Preferably, in the above step 106, the vehicle controller interacts withthe payment terminal at the payment position to accomplish the automaticpayment, of which the specific implementation can refer to the flowchart as shown in FIG. 4 :

Step 1061: obtaining, by the payment terminal, the vehicleidentification information of the vehicle.

Step 1062: obtaining, by the payment terminal, the weighing result andthe driving mileage corresponding to the vehicle identificationinformation, and calculating payment amount according to the weighingresult and the driving mileage.

In embodiments of the application, the payment terminal calculates thepayment amount according to the weighing result and the driving mileage,which can be achieved by the following way: the payment terminalprestores the roadway charging standard, in which the fees to be paid bythe vehicles of different types and different weights when driving 1kilometer on various roadways are recorded; the payment terminalcalculates the fee required to be paid per kilometer by the vehicleaccording to the obtained weighing result, the vehicle type and thedriven roadway, and then calculates the product of the fee paid for perkilometer and the driving mileage (in kilometers) to obtain the paymentamount required to be paid by the vehicle.

For example, the charging standards corresponding to the truck of morethan 15 tones on different expressways are as follows:

-   -   1) 2 Yuan/kilometre on the G1 Beijing-Haerbin expressway, G6        Beijing-Tibet expressway, G7 Beijing-Xinjiang expressway, G45        Daqing-Guangzhou expressway, G4501 sixth ring road, G102        Tongzhou-Yanjiao expressway, G106 Beijing-Guangzhou line, S15        Beijing-Tianjin expressway, S36 airport northern line, S46        Beijing-Pinggu expressway.    -   2) 0.81 Yuan/kilometre on the G2 Beijing-Shanghai expressway.    -   3) 2.5 Yuan/kilometre on the G4 Beijing-Hong Kong-Macao        expressway.    -   4) 2 Yuan/kilometre on the G103 Beijing Tanggu line, S12 airport        expressway.

Step 1063: sending, by the payment terminal, leaving indicationinformation to the vehicle controller after determining that the vehiclecontroller pays the payment amount.

Step 1064: controlling, by the vehicle controller, the vehicle to startand leave the payment position when receiving the leaving indicationinformation.

In an embodiment of the application, in the step 1061, the paymentterminal obtains the vehicle identification information of the vehicle,which can be achieved by but not limited to any of the following modes(modes B1 and B2):

Mode B1: the payment terminal identifies the vehicle identificationinformation of the vehicle.

Mode B2: the payment terminal receives the vehicle identificationinformation of the vehicle from the vehicle controller.

The vehicle controller can communicate with the payment terminal via abase station, bluetooth, WIFI or the like, which is not limited strictlyby the present application.

The mode B1 can be achieved by but not limited to the following mode B11or B12:

Mode B11: the payment terminal controls a sensor to take an image of thevehicle, and performs image identification processing on the image toobtain the vehicle identification information of the vehicle.

The sensor can be a video camera which can be mounted nearly to thepayment position, where the lens faces directly to the payment position,e.g., mounted on a fixture near the payment position. The angle of thelens of the video camera can be adjusted automatically.

According to the image posted back from the camera, the payment terminalcan perform the image processing on this image. When the vehicleidentification information is identified from the image, the vehicleidentification information is to be verified; if the vehicleidentification information is not identified from the image, theshooting angle of the camera is adjusted automatically and the aboveactions are repeated until the vehicle identification information isidentified.

The payment terminal identifies the vehicle identification informationfrom the image, which can be achieved by the following way: the paymentterminal extracts features from the image, compares the extractedfeatures with the features corresponding to the preset vehicleidentification information, and determines the vehicle identificationinformation according to the features compared successfully. In anembodiment of the application, the above vehicle identificationinformation is the information associated only with the vehicle, forexample, can be the license plate number. When the vehicleidentification information is the license plate number, the featurescorresponding to the vehicle identification information include size,shape (rectangular frame), color (blue or black), text features (lengthof the text string in the rectangular frame) and the like.

Mode B12: the payment terminal controls the sensor to scan atwo-dimensional code or bar code on the vehicle, to obtain the vehicleidentification information of the vehicle.

In an embodiment of the application, the two-dimensional code or barcode containing the vehicle identification information can be pasted orprinted in advance on a particular position of the vehicle, such as thefront windshield, the left side panel of the vehicle. The paymentterminal adjusts the shooting angle of the camera until thetwo-dimensional code or bar code is scanned successfully.

In an example, the payment terminal sends the calculated payment amountto the vehicle controller, and the vehicle controller pays thecorresponding payment amount actively. In this example, the flow asshown in FIG. 4 further includes the following steps 1065 and 1066, asshown in FIG. 5 :

Step 1065: sending, by the payment terminal, the payment amount to thevehicle controller;

Step 1066: paying, by the vehicle controller, the payment amountautomatically when receiving the payment amount.

In the step 1063, the payment terminal determines that the vehiclecontroller pays the payment amount, which includes: the payment terminaldetermines that the vehicle controller pays the payment amount whencollecting the payment amount paid by the vehicle controllersuccessfully.

The above step 1066 can be implemented by but not limited to any of thefollowing modes (modes C1 to C2):

Mode C1: the vehicle controller invokes a third-party payment softwareto pay the payment amount.

Mode C2: the vehicle controller controls an on-board camera to scan atwo-dimensional code corresponding to the payment terminal, and invokesa third-party payment software to pay the payment amount.

In the mode C2, the two-dimensional code corresponding to the paymentterminal is arranged at a position around the payment terminal.

In another example, the payment terminal in the embodiments of theapplication directly records the payment amount in the bill of the payerin way of keeping accounts when calculating the payment amount, thepayment terminal sends the bill to the payer periodically (e.g., everymonth, every quarter, every half year or every year), and the payer paysthe corresponding fees, where the payer can be the driver of thevehicle, the transport company to which the vehicle belongs, or thelike.

In yet another example, the payment terminal can also prestore theassociation relationship of the vehicle identification information andthe account of Electronic Toll Collection (ETC) system of each vehicle,and when a vehicle passes through the payment terminal, the paymentterminal deducts the current payment amount from the account of ETCsystem corresponding to the vehicle identification information of thisvehicle.

Based on the two ways described above, the above method flow as shown inFIG. 4 further include step 1067, as shown in FIG. 6 :

Step 1067: keeping, by the payment terminal, an account of the paymentamount in a bill corresponding to the vehicle identificationinformation, or deducting the payment amount from an account of ETCsystem corresponding to the vehicle identification information.

In the above step 1063, the payment terminal determines that the vehiclecontroller pays the payment amount, which includes: the payment terminaldetermines that the vehicle controller pays the payment amount afterkeeping an account of the payment amount in the bill successfully ordeducting the payment amount from the account of ETC systemsuccessfully.

Second Embodiment

Based upon the same concept as the method of implementing vehicleautomatically weighing provided by the first embodiment described above,the second embodiment of the application provides a system ofimplementing vehicle automatically weighing. The structure of the systemis as shown in FIG. 7 , which includes a vehicle controller 1 and aweighbridge sensor 2, wherein:

the vehicle controller 1 is configured to control a vehicle to driveautomatically and stop at a weighing position, and control the vehicleto start and leave the weighing position when receiving weighing endinformation sent by the weighbridge sensor 2;

the weighbridge sensor 2 is configured to weigh the vehicle when sensingthe vehicle stopping at the weighing position, and send the weighing endinformation to the vehicle controller 1.

Preferably, as shown in FIG. 8 , the system further includes a paymentterminal 3, and the weighing end information contains indicationinformation indicating the vehicle to drive to a payment position;

the weighbridge sensor 2 is further configured to obtain the vehicleidentification information of the vehicle, and send the weighing resultand the vehicle identification information associatively to the paymentterminal 3; and

the vehicle controller 1 is further configured to control the vehicle todrive from the weighing position to the payment position, and interactwith the payment terminal 3 corresponding to the payment position toaccomplish the automatic payment.

Preferably, in the second embodiment of the application, the vehiclecontroller 1 interacts with the payment terminal 3 to accomplish theautomatic payment, which includes: the payment terminal 3 obtains thevehicle identification information of the vehicle, obtains the weighingresult and the driving mileage corresponding to the vehicleidentification information, calculates the payment amount according tothe weighing result and the driving mileage, and sends the leavingindication information to the vehicle controller 1 after determiningthat the vehicle controller 1 pays the payment amount; and

the vehicle controller 1 is further configured to control the vehicle tostart and leave the payment position when receiving the leavingindication information sent by the payment terminal corresponding to thepayment position.

In the second embodiment of the application, the mode in which thepayment terminal 3 obtains the vehicle identification information of thevehicle and the mode in which the payment terminal 3 determines that thevehicle controller 1 pays the payment amount can refer to the technicalcontent related to the first embodiment, and a detailed descriptionthereof will be omitted here.

Third Embodiment

The third embodiment of the application provides a vehicle controller.The structure of the vehicle controller is as shown in FIG. 9 , whichincludes:

a communication unit 11 configured to receive and send information;

a control unit 12 comprising a processor and at least one memory (notshown in the figure), where the at least one memory stores at least onemachine executable instruction, and the processor executes the at leastone machine executable instruction to control a vehicle to driveautomatically and stop at a weighing position, and control the vehicleto start and leave the weighing position when receiving weighing endinformation.

The processor of the control unit 12 executes the at least one machineexecutable instruction to further send, through the communication unit11, the vehicle identification information to the weighbridge sensor.

In some embodiments, the weighing end information contains indicationinformation indicating the vehicle to drive to a payment position, andthe processor of the control unit 12 executes the at least one machineexecutable instruction to further control the vehicle to drive from theweighing position to the payment position, and interact with a paymentterminal corresponding to the payment position to accomplish anautomatic payment.

The processor of the control unit 12 executes the at least one machineexecutable instruction to interact with the payment terminalcorresponding to the payment position to accomplish the automaticpayment, which includes: control the vehicle to start and leave thepayment position when receiving, through the communication unit 11,leaving indication information sent from the payment terminal.

The processor of the control unit 12 executes the at least one machineexecutable instruction to further pay payment amount automatically whenreceiving, through the communication unit 11, the payment amount sentfrom the payment terminal.

The processor of the control unit 12 executes the at least one machineexecutable instruction to pay the payment amount automatically, whichincludes:

invoke a third-party payment software to pay the payment amount; or,control a vehicle-carried camera to scan a two-dimensional codecorresponding to the payment terminal, and invoke a third-party paymentsoftware to pay the payment amount.

Fourth Embodiment

The fourth embodiment of the application provides a weighbridge sensor.The structure of the weighbridge sensor is as shown in FIG. 10 , whichincludes:

a communication unit 21 configured to receive and send information;

a weighing control unit 22 comprising a processor and at least onememory (not shown in the figure), where the at least one memory storesat least one machine executable instruction, and the processor executesthe at least one machine executable instruction to weigh a vehicle whensensing the vehicle stopping at a weighing position, and send, throughthe communication unit 21, weighing end information to a vehiclecontroller of the vehicle.

The processor of the weighing control unit 22 executes the at least onemachine executable instruction to further obtain the vehicleidentification information of the vehicle; and send the weighing resultand the vehicle identification information associatively to a paymentterminal.

Preferably, the weighing control unit further includes a sensor; and theprocessor of the weighing control unit 22 executes the at least onemachine executable instruction to obtain the vehicle identificationinformation of the vehicle, which includes:

the processor of the weighing control unit 22 executes the at least onemachine executable instruction to receive, through the communicationunit 21, the vehicle identification information from the vehiclecontroller of the vehicle; or, the processor of the weighing controlunit 22 executes the at least one machine executable instruction toidentify, by the sensor, the vehicle identification information of thevehicle.

The processor of the weighing control unit 22 executes the at least onemachine executable instruction to identify, by the sensor, the vehicleidentification information of the vehicle, which includes: control thesensor to take an image of the vehicle, and perform image identificationprocessing on the image to obtain the vehicle identification informationof the vehicle; or, control the sensor to scan a two-dimensional code orbar code on the vehicle, to obtain the vehicle identificationinformation of the vehicle.

Fifth Embodiment

The fifth embodiment of the application provides a payment terminal. Thestructure of the payment terminal is as shown in FIG. 11 , whichincludes:

a communication unit 31 configured to receive and send information;

a storage unit 32 configured to store a weighing result and drivingmileage corresponding to vehicle identification information;

a payment control unit 33 comprising a processor and at least one memory(not shown in the figure), where the at least one memory stores at leastone machine executable instruction, and the processor executes the atleast one machine executable instruction to obtain the vehicleidentification information of a vehicle stopping at a weighing positionand obtain the weighing result and the driving mileage corresponding tothe vehicle identification information from the storage unit 32;calculate payment amount according to the obtained weighing result anddriving mileage; and send, through the communication unit 31, leavingindication information to a vehicle controller after determining thatthe vehicle controller pays the payment amount.

In an example, the processor of the payment control unit 33 executes theat least one machine executable instruction to further send, through thecommunication unit 31, the payment amount to the vehicle controller;collect the payment amount paid by the vehicle controller; and determinethat the vehicle controller pays the payment amount, which includes:determine, by the payment terminal, that the vehicle controller pays thepayment amount when collecting the payment amount paid by the vehiclecontroller successfully.

In an example, the processor of the payment control unit 33 executes theat least one machine executable instruction to further keep an accountof the payment amount in a bill corresponding to the vehicleidentification information, or deduct the payment amount from an accountof ETC system corresponding to the vehicle identification information;and the processor of the payment control unit 33 executes the at leastone machine executable instruction to further determine that the vehiclecontroller pays the payment amount, which includes: determine that thevehicle controller pays the payment amount after keeping an account ofthe payment amount in the bill successfully or deducting the paymentamount from the account of ETC system successfully.

Preferably, the processor of the payment control unit 33 executes the atleast one machine executable instruction to further obtain the vehicleidentification information of the vehicle stopping at the weighingposition, which is configured to: identify the vehicle identificationinformation of the vehicle; or, receive the vehicle identificationinformation of the vehicle from the vehicle controller.

Preferably, the processor of the payment control unit 33 executes the atleast one machine executable instruction to further identify the vehicleidentification information of the vehicle, which includes:

control a sensor to take an image of the vehicle, and perform imageidentification processing on the image to obtain the vehicleidentification information of the vehicle; or, control the sensor toscan a two-dimensional code or bar code on the vehicle, to obtain thevehicle identification information of the vehicle.

It should be understood by those skilled in the art that the embodimentsof the present application can provide methods, systems and computerprogram products. Thus the present application can take the form ofhardware embodiments alone, application software embodiments alone, orembodiments combining the application software and hardware aspects.Also the present application can take the form of computer programproducts implemented on one or more computer usable storage mediums(including but not limited to magnetic disk memories, CD-ROMs, opticalmemories and the like) containing computer usable program codes therein.

The present application is described by reference to the flow chartsand/or the block diagrams of the methods, the devices (systems) and thecomputer program products according to the embodiments of the presentapplication. It should be understood that each process and/or block inthe flow charts and/or the block diagrams, and a combination ofprocesses and/or blocks in the flow charts and/or the block diagrams canbe implemented by the computer program instructions. These computerprogram instructions can be provided to a general-purpose computer, adedicated computer, an embedded processor, or a processor of anotherprogrammable data processing device to produce a machine, so that anapparatus for implementing the functions specified in one or moreprocesses of the flow charts and/or one or more blocks of the blockdiagrams is produced by the instructions executed by the computer or theprocessor of another programmable data processing device.

These computer program instructions can also be stored in a computerreadable memory which is capable of guiding the computer or anotherprogrammable data processing device to operate in a particular way, sothat the instructions stored in the computer readable memory produce amanufacture including the instruction apparatus which implements thefunctions specified in one or more processes of the flow charts and/orone or more blocks of the block diagrams.

These computer program instructions can also be loaded onto the computeror another programmable data processing device, so that a series ofoperation steps are performed on the computer or another programmabledevice to produce the computer-implemented processing. Thus theinstructions executed on the computer or another programmable deviceprovide steps for implementing the functions specified in one or moreprocesses of the flow charts and/or one or more blocks of the blockdiagrams.

Although the preferred embodiments of the present application have beendescribed, those skilled in the art can make additional alterations andmodifications to these embodiments once they learn about the basiccreative concepts. Thus the attached claims are intended to beinterpreted to include the preferred embodiments as well as all thealterations and modifications falling within the scope of the presentapplication.

Evidently those skilled in the art can make various modifications andvariations to the application without departing from the spirit andscope of the application. Thus the application is also intended toencompass these modifications and variations therein as long as thesemodifications and variations come into the scope of the claims of theapplication and their equivalents.

What is claimed is:
 1. A vehicle controller of a vehicle, comprising: acontrol unit comprising a processor and at least one memory, wherein theat least one memory stores at least one machine executable instruction,which, upon execution by the processor, causes the processor to: controlthe vehicle to leave a weighing position in response to receivingweighing end information; control the vehicle to drive from the weighingposition to a payment position based on a weighing end information; andpay a payment amount in response to the receiving an indication sentfrom a payment terminal.
 2. The vehicle controller according to claim 1,wherein the at least one machine executable instruction, when executedby the processor, causes the processor to control the vehicle to drivefrom the weighing position to a payment position based on the weighingend information.
 3. The vehicle controller according to claim 1, whereinthe at least one machine executable instruction, when executed by theprocessor, causes the processor to control the vehicle to leave thepayment position in response to receiving leaving indication informationsent from the payment terminal.
 4. The vehicle controller according toclaim 3, wherein the vehicle controller invokes a third-party paymentsoftware to pay the payment amount.
 5. The vehicle controller accordingto claim 1, wherein the at least one machine executable instruction,when executed by the processor, causes the processor to send vehicleidentification information to a weighbridge sensor.
 6. The vehiclecontroller according to claim 1, wherein the at least one machineexecutable instruction, when executed by the processor, causes theprocessor to: cause the vehicle to interact with the payment terminal toaccomplish an automatic payment.
 7. The vehicle controller according toclaim 1, wherein the weighing end information is provided by aweighbridge sensor.
 8. The vehicle controller according to claim 1,wherein the payment amount is determined using a weighing result,provided by a weighbridge sensor, and a driving mileage of the vehicle.9. The vehicle controller according to claim 1, wherein the processor isconfigured to execute the at least one machine executable instruction tosend vehicle identification information to the payment terminal.
 10. Amethod of controlling a vehicle, comprising: controlling a vehicle todrive automatically and stop at a weighing position using a control unitof a vehicle controller of the vehicle, controlling the vehicle to leavethe weighing position in response to receiving weighing end informationof the vehicle controller of the vehicle, wherein the weighing endinformation contains indication information indicating the vehicle todrive to a payment position; controlling the vehicle to drive from theweighing position to a payment position; and controlling an on-boardcamera of the vehicle to scan a two-dimensional code corresponding to apayment terminal corresponding to the payment position. wherein thevehicle controller invokes a third-party payment software to pay apayment amount.
 11. The method of claim 10, comprising paying a paymentamount automatically in response to the receiving the payment amountsent from the payment terminal.
 12. The method of claim 10 comprisingcontrolling the vehicle to leave the payment position in response toreceiving leaving indication information sent from the payment terminal.13. The method of claim 10, wherein the vehicle controller invokes athird-party payment software to pay the payment amount.
 14. The methodof claim 10, comprising sending vehicle identification information to aweighbridge sensor.
 15. The method of claim 10, comprising causing thevehicle to interact with the payment terminal to accomplish an automaticpayment.
 16. The method of claim 10, wherein the weighing endinformation is provided by a weighbridge sensor.
 17. The method of claim10, comprising send vehicle identification information to the paymentterminal.
 18. The vehicle controller according to claim 13, wherein thepayment amount is determined using a weighing result, provided by aweighbridge sensor, and a driving mileage of the vehicle.
 19. A computerreadable medium having code stored thereon, the code, when executed by acomputer comprising one or more processors, causing the computer toimplement a method, the code comprising instructions for: controlling avehicle to drive automatically and stop at a weighing position using acontrol unit of a vehicle controller of the vehicle, controlling thevehicle to leave the weighing position in response to receiving weighingend information of the vehicle controller of the vehicle, wherein theweighing end information contains indication information indicating thevehicle to drive to a payment position; controlling the vehicle to drivefrom the weighing position to a payment position; and controlling anon-board camera of the vehicle to scan a two-dimensional codecorresponding to a payment terminal corresponding to the paymentposition. wherein the vehicle controller invokes a third-party paymentsoftware to pay a payment amount.
 20. The computer readable medium ofclaim 19, wherein the at least one machine executable instruction, whenexecuted by the processor, causes the processor to control the vehicleto drive from the weighing position to a payment position based on theweighing end information